OutputVehPoseSource.cc

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#include <iostream>

#include <utils/ConfigFile.h>
#include <utils/Generator.h>
#include <TimeSource/TimeSource.h>
#include <VehPoseDest/VehPoseDest.h>

#include "OutputVehPoseSource.h"

UTILS_INTF_CREATOR(VehPoseSource, out, gen, params, globals)
{
  UTILS_INTF_REPORT(VehPoseSource, out);
  OutputVehPoseSource* intf = new OutputVehPoseSource();
  if (!intf->init(*params, gen, globals)) {
    delete intf;
    return NULL;
  }
  return intf;
}

OutputVehPoseSource::OutputVehPoseSource()
{
  _contained = NULL;
  _output = NULL;
}

OutputVehPoseSource::~OutputVehPoseSource()
{
  if (_contained)
    _contained->unref();
  if (_output)
    _output->unref();
}

bool OutputVehPoseSource::init(utils::ConfigFile& params,
                               VehPoseSourceGenerator* gen,
                               utils::SymbolTable* globals)
{
  // create the contained interface
  _contained = gen->interface(params.getString("contained"), globals);
  if (!_contained) {
    std::cerr << "OutputVehPoseSource::init: could not create contained\n";
    return false;
  }
  _contained->ref();

  _output =
    VehPoseDest::generate(params.getString("output", "logger"), globals);
  if (!_output) {
    std::cerr << "OutputVehPoseSource::init: could not create output\n";
    return false;
  }
  _output->ref();
  
  return true;
}

bool OutputVehPoseSource::getCurPose(utils::Time& time, VehPose& pose, 
                                     bool blocking)
{
  if (_contained->getCurPose(time, pose, blocking)) {
    _output->outputPose(time, pose);
    return true;
  } 
  return false;
}

bool OutputVehPoseSource::getPose(utils::Time time, VehPose& pose)
{
  if (_contained->getPose(time, pose)) {
    _output->outputPose(time, pose);
    return true;
  } 
  return false;
}

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